#include <cmath>

#include "integration.hpp"
#include "measurement.hpp"

IMU imu_datas;
Measurements measurements;


int main(int argc, char** argv)
{
	bool initialAlig = false;
	std::vector<IMU::ImuMsg> imu_buff;
	std::map<double, IMU::PoseAtt> intial_pose;
	std::string imu_path = "C:\\Users\\60241\\Desktop\\gnss_ins\\IMU.txt";
	imu_buff = measurements.getImuFromFile(imu_path);
	//std::string imu_path = "C:\\Users\\60241\\Desktop\\gnss_ins\\Data1.bin";
	//imu_buff = measurements.getImuFromBin(imu_path);
	if (initialAlig) intial_pose = imu_datas.initialAlignment(imu_buff);
	std::vector<IMU::Navigation> nav_result;
	nav_result = imu_datas.imuNav(imu_buff);
	return 0;
}

